Clearpath HLFB amp.joint.delay

Just got back to it, have screen shots showing HLFB input pins inactive and active with machine enable ( think I did this correct) Two things only have the x axis active everything else commented out. Wasn't sure how to configure the output portion at the moment i have one output to enable the drives and the second thing was should the x axis fault with this config when i disconnect it at the moment it does not.

I think I need (joint.X.amp-fault-in) but not sure correct spot to insert.

Do U replace this section
# HLFB is true when enabled *and* following
net hlfb_x  hm2_7i76e.0.7i76.0.0.input-16-not 
net hlfb_y  hm2_7i76e.0.7i76.0.0.input-17-not
net hlfb_y2 hm2_7i76e.0.7i76.0.0.input-18-not
net hlfb_z  hm2_7i76e.0.7i76.0.0.input-19-not
net hlfb-a  hm2_7i76e.0.7i76.0.0.input-20-not

With net joint.X.amp-fault-in whatever_input_pin

? Thanks 

made the changes but errors

Debug file information:
Note: Using POSIX realtime
HAL: ERROR: function 'and2.4' not found
./custom.hal:5: addf failed
18633
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

 

Thank You for that looks like the .hal file is correct now I am assuming I dont have correct settings in the motors thought it would fault if power/loss of com .

or am I missing a config for that? 

Thanks